Additive manufacturing in gel-supported environment

ABSTRACT

Described is an apparatus for making three dimensional objects. A nozzle is positioned within a gel inside a container of gel. The position of the nozzle within the gel is changed while depositing solidifying material through the nozzle. The gel supports the solidifying material at the position at which the solidifying material is deposited. The solidifying material is solidified to form a solid material, which is a three-dimensional object.

RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No. 15/945,704filed on Apr. 4, 2018, which claims the benefit of U.S. ProvisionalApplication No. 62/481,358, filed on Apr. 4, 2017. The entire teachingsof the above applications are incorporated herein by reference.

BACKGROUND

Traditional manufacturing typically involves molded production of partsand other components having a fixed shape, and those individualcomponents are frequently assembled into more complex structures. Theprocess is often expensive and can involve a significant amount ofmanual labor, and molds used in the production are expensive tomanufacture and have singular design structure.

Additive manufacturing refers to a collection of techniques for makingthree dimensional objects by layerwise addition of material.Stereolithography (SLA) is an additive manufacturing technique thatinvolves selective photopolymerization of polymers upon exposure to UVlight.

Selective laser sintering (SLS), direct metal laser sintering (DMLS),and laser melting (SLM) are additive manufacturing techniques thatinvolve distributing a thin layer of a powder onto a substrate plate. InSLS and DMLS, a laser selectively sinters the powder. In SLM, a laserselectively melts the powder. Unlike SLA, which is typically used withpolymers, SLS, DMLS, and SLS can be used with metals.

Fused deposition modeling (FDM), sometimes referred to as fused filamentfabrication (FFF), an object is built by selectively depositing meltedmaterial in a pre-determined path layer-by-layer.

One problem with existing technologies is that they are too slow.Another problem with existing technologies is that manufacturing complexgeometries, such as unsupported overhangs, can require fabricating asupport structure that is subsequently removed during post-processing.Fabricating support structures often increases the cost of designing apart, and can lead to increased machine time to fabricate the part. Inaddition, some or all of the support structure is discarded, whichincreases the cost of materials to fabricate the part.

SUMMARY

The methods described herein pertain to additive manufacturingtechniques that can be used to make three dimensional objects.

Described herein is a method of making a three-dimensional object. Themethod can include positioning a nozzle within a gel inside a containerof gel; changing the position of the nozzle within the gel whiledepositing solidifying material through the nozzle, whereby the gelsupports the solidifying material at the position at which thesolidifying material is deposited; and solidifying the solidifyingmaterial to form a solid material, the solid material being athree-dimensional object.

Depositing the solidifying material through the nozzle can furtherinclude varying a rate at which the solidifying material is deposited,for example by varying pressure applied to one or more pistons toextrude the solidifying material. Changing the position of the nozzlewithin the gel can further include changing the position of the nozzleat varying speeds.

The nozzle can be affixed to a multi-axis machine. Changing the positionof the nozzle through the gel can include moving one or more axes of themulti-axis machine to which the nozzle is affixed. Changing the positionof the nozzle within the gel can include changing a position of thecontainer of gel.

Solidifying the solidifying material can include exposing thesolidifying material to light or heat. Solidifying the solidifyingmaterial can include allowing the solidifying material to cool.Solidifying the solidifying material can include exposing thesolidifying material to light while depositing the solidifying materialthrough the nozzle.

The solidifying material can be a polymer, a rubber, a pulp, a foam, ametal, a concrete, or an epoxy resin. The rubber can be a siliconerubber.

The solidifying material can have a hardness between about Shore 00-10and about Shore 90D when solidified.

The solidifying material can be a foam. The solidified foam can have adensity of about 3 lb/ft³ to about 30 lb/ft³.

The gel can be a suspension. The gel can include a carbomer or apolyacrylic acid. The gel can have a viscosity between about 20000centipoise and about 50000 centipoise.

The nozzle can have a circular-shaped, rectangular-shaped,square-shaped, diamond-shaped, V-shaped, U-shaped, or C-shaped tipthrough which the solidifying material is deposited.

The solidifying material can include two compounds that co-polymerize.Solidifying the solidifying the solidifying material can includeallowing the two compounds to co-polymerize. The nozzle further includesa mixing portion that mixes the two compounds as they are depositedthrough the nozzle.

Changing the position of the nozzle can include changing the position ofthe nozzle within the gel in three through eight axes simultaneously,for at least a portion of time. Changing the position of the nozzle caninclude changing the position of the nozzle within the gel in fivethrough eight axes simultaneously, for at least a portion of time.Changing the position of the nozzle include changing the position of thenozzle within the gel in three through six axes simultaneously, for atleast a portion of time. Changing the position of the nozzle can includechanging the position of the nozzle within the gel in six axessimultaneously, for at least a portion of time.

Changing the position of the nozzle can include changing the position ofthe nozzle to deposit solidifying material onto, around, or withinanother object within the gel.

The nozzle can be a first nozzle, the solidifying material can be afirst solidifying material, and the solid material can be a first solidmaterial. The method can further include positioning a second nozzlewithin the gel inside the container of gel; changing the position of thesecond nozzle within the gel while depositing a second solidifyingmaterial through the second nozzle, whereby the gel supports the secondsolidifying material at the position at which the second solidifyingmaterial is deposited, and whereby depositing the first and secondsolidifying materials is performed so that the first and secondmaterials contact each other in deposited state; and solidifying thesecond solidifying material to form a second solid material, whereby thefirst and second solid materials are joined together as thethree-dimensional object. The first and second nozzles can have tipswith different shapes. The first and second solidifying materials can bedifferent.

Described herein is an apparatus for making a three-dimensional object.The apparatus can include a nozzle affixed to a multi-axis machine; ameans for extruding a solidifying material through the nozzle; and acontainer of gel.

The apparatus can be configured as described herein to perform themethods described herein.

The methods described herein confer a number of advantages. Notably, themethods are fast. Compared to other additive manufacturing processes,such as FDM and SLM, printing in a gel suspension in the disclosedembodiments of the additive manufacturing methods and systems describedherein can be much faster, potentially orders of magnitude faster, forprinting parts with complex geometries, such as those illustrated inFIG. 4. In some instances, the methods may be 300× faster, or more, thanexisting processes. Since it is not necessary to deposit supportstructures, post-processing of a manufactured object is substantiallyreduced. For example, post-processing can simply include washing theobject in water. It is not necessary to cut away or otherwise removesupport structures manually. The methods can also be used to manufacturelarge objects. The size of the container of gel is the only factor thatlimits the size of the object that can be manufactured.

Even though speed and size can be increased compared to knowntechniques, the manufactured objects are of a high quality. Thesolidifying materials that can be used in the methods described hereincan be industrial-grade materials. For example, the methods describedherein can be used to fabricate objects with silicone rubbers, whereasother methods may require the use of elastomers that are not trulysilicones. The methods can also be used to fabricate materials fromfoams. The methods can also be used to fabricate materials from rigidpolymers, whereas other methods may require sintering powders, and theresulting objects may have inferior mechanical properties. Since themethods described herein do not require layer-by-layer deposition, theobjects that are formed do not have stratified layers, which can bemechanically inferior to a product that is formed of a homogenouscross-section.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing will be apparent from the following more particulardescription of example embodiments, as illustrated in the accompanyingdrawings in which like reference characters refer to the same partsthroughout the different views. The drawings are not necessarily toscale, emphasis instead being placed upon illustrating embodiments.

FIG. 1 illustrates a 3-axis gantry-style machine with a 2-part mixingdeposition system printing a 3-dimensional part in a gel suspension.

FIG. 2 illustrates a 6-axis robotic arm with a two-component mixingdeposition system printing a 3-dimensional part in a gel suspension.

FIG. 3 illustrates the deposition system with two-component solidifyingmaterial that is pneumatically controlled to flow through the mixing tipfor thorough mixing and extrusion out the nozzle.

FIG. 4 illustrates a comparison between different printing processes forthe same diagonally-shaped part.

FIG. 5 illustrates a variety of nozzle geometries, sizes and theresultant printed path.

FIG. 6 illustrates a large tank of the gel suspension medium that printsa full-scale chair, suspended in 3D space.

FIG. 7 illustrates a printing portions of a chair onto and/or around ametal frame inserted into a large tank.

DETAILED DESCRIPTION

A description of example embodiments follows.

As used herein, the term “gel” refers to a colloid in which particlesare dispersed in a liquid medium. Most commonly, the dispersed particlesare cross-linked particles. The gels can be thixotropic. Most gels arepredominantly liquid by weight, but exhibit solid-like materialproperties due to the three-dimensional cross-linked network within theliquid.

The methods described herein pertain to a method of additivemanufacturing within a gel suspension environment. Typically, the gel isheld within a container. A solidifying material, which can be a moltenor liquid form, is deposited with through nozzles and tool paths.

In some embodiments, a multi-axis machine can be used to control a pathof a nozzle through the gel. Examples of a multi-axis machines includegantry-type systems and industrial robot arms. In general, a widevariety of multi-axis machines and robotic arms are available.Gantry-style machines typically provide for three axes of movement: thex-, y-, and z-axes. Frequently, robotic arms are described according tothe number of axes of rotation the arm possesses. For example, afive-axis robotic arm can rotate at five distinct axes of rotation, anda six-axis robotic arm can rotate at six distinct axes of rotation. Inadditional to rotational axes, a robotic arm can also be affixed to alinear rail or gantry-style machine to provide linear axes of movementin addition to the rotational axes. As an example, a six-axis roboticarm affixed to a linear rail can move in seven axes. As another example,a six-axis robotic arm affixed to a gantry-style machine can move inseven, eight, or nine axes, depending on the particular movements of thegantry-style machine.

In addition to axes of movement provided by a multi-axis machine, thecontainer holding the gel can also be moved. For example, the containerof gel can be placed on a multi-axis gantry-style machine, which canmove the container of gel in three axes that are separate and distinctfrom axes of movement of the multi-axis machine to which the nozzle isaffixed. The container of gel can also be moved along a rotational axisas well.

In some embodiments, the container of gel moves along one axis and thenozzle moves along two axes. In some embodiments, the nozzle isstationary, and the tank moves along two or three axes. In someembodiments, the tank is controlled by a gantry-style machine.

In some embodiments, the nozzle is controlled by a winch robot, whichcan also be referred to as a cable robot. In these embodiments, aplurality of cables control movement of the nozzle in the x-, y-, andz-directions.

The combination of these components allows for extremely fast printingwith a variety of materials. For example, molten polymers can bedeposited through the nozzle and solidified. For example, curing caninclude polymerization, which can be photoinitiated. In otherembodiments, a polymer can be heated to accelerate a polymerizationreaction rate. Chemically-cured, photo-cured or air/water-curedplastics, rubbers, foams and other liquids can be printed atlarge-scales only limited by the size of the container or roboticapparatus. Different nozzles can be used to control the flow rate, size,direction and cross-sectional geometry. Similarly, complex 3-dimensionaltool paths can be created to print in any orientation and direction in3D space.

Existing additive manufacturing processes have had limited industrialapplications due to their lack of speed and size compared with otherindustrial manufacturing processes. The methods described herein canincrease the speed of printing by using a gel suspension that does notrequire support materials nor slow printing speeds while waiting for thematerial to harden, like other 3-dimensional printing processes.Manufacturing speed is also increased because the objects are notproduced layer-by-layer, as in other additive manufacturing processes(e.g., FDM, inkjet-like printing using liquid binder and powder (e.g.,as available from ZCorp, acquired by 3D Systems), SLA, SLS, and Polyjetprinting (e.g., CONNEX printers available from Stratasys Ltd)) thatrequire excessive time to print large structures. Rather, parts can beprinted in three-dimensional space.

FIG. 4 illustrates a comparison between different additive manufacturingprinting process for the same diagonally-shaped part. In FDM printing,the part is divided into horizontal slices, and there is a horizontallysliced support region printed to support the overhanging portion. In SLAprinting, the part is sliced horizontally and small vertical supportsare printed to support the overhanging portion. In a powder-based system(e.g., SLS or ZCorp), the part is sliced horizontally and thesurrounding powder supports the overhanging portion. In thegel-supported environment methods described herein, the part is printeddirectly in the orientation of the component, without horizontalslicing, effectively increasing the speed of printing and structuralcontinuity of the part, and the surrounding gel acts at the supportmaterial.

Post-processing time is also dramatically decreased because supportsstructures are not necessary. Traditionally, these support structuresare manually removed or dissolved. In the method, printing time is onlylimited by the speed of the machine and curing time of the depositedsolidifying material (from seconds to hours depending on thecomposition).

The scale of printing can vary. Extremely small scale structures withfine features can be made by using a smaller nozzle tips. Largerstructures with larger features can be made by using a larger nozzle.

FIG. 1 is an illustration of a three-axis gantry-style machine 100 usedwith a two-part material. An arm 110 is affixed to the gantry system 100such that the arm can be moved in the x-, y-, and z-axes, as indicated.In this particular embodiment, pneumatic deposition can be providedthrough pneumatic control system, which includes a chamber 120 forexerting force on pistons 126 a and 126 b (see FIG. 3). Two chambers 130a and 130 b are provided that hold two different materials. Thesematerials are mixed in mixing tip 140 and deposited through nozzle 150.Container or tank 160 holds a gel 170. As arm 110 moves, nozzle 150moves through the gel and the two materials are extruded into the gelfrom chambers 130 a and 130 b to form three dimensional object (printedpart) 180 a. FIG. 2 is an illustration of a six-axis robotic arm 200with a two-part material. The remainder is substantially similar to FIG.1.

FIG. 3 is an illustration of a deposition system for a two-part materialthat is pneumatically controlled to flow through the mixing tip. Airenters through tube 124, passes through pressure regulator 122, andenters into chamber 120, whereby the air provides a downward force onpistons 126 a and 126 b to force material out of chambers 130 a and 130b, respectively. A solidifying material (e.g., a liquid) 180 b isextruded through the nozzle tip 150.

As an alternative to the pneumatic deposition illustrated in FIG. 3, anelectrically-activated screw deposition system can be used. For example,a motor can be used to exert downward force on pistons 126 a and 126 b.

FIG. 6 is an illustration of use of the methods described herein to makea chair 180 c.

1. Deposition of Solidifying Materials

1.1. Materials

The methods described herein use a deposition system to depositsolidifying materials of varying quantities and viscosities. The methodsare unique compared to other additive manufacturing processes becausethey allow for easy liquid material flow/deposition, faster printingspeeds and the use of industrial-grade materials. In some embodiments,the solidifying material is a single component. In other embodiments,the solidifying material is two separate compounds that co-polymerize.

To date, a variety of plastics, foams and rubbers that are eitherone-part or two-part air-cured or chemically-cured materials have beentested. Most other processes rely on powder material with adhesivebinders, powders with selective sintering, UV-curable polymers orhot-end filament extruders which inherently limit the materialsavailable and the final material properties of the printed structures.The methods described herein can be used to print with industrial-gradematerials, such as polyurethane (PU) rubber, foam and plastics, resins,silicone, biological materials, liquid wood pulp, concretes, liquidmetals or any other solidifying material, which greatly broadens thepossibilities for industrial printing applications.

Examples of foams include urethane and silicone foams. As used herein,foam refers to a material having trapped pockets of gas in a liquid orsolid. Foams are typically deposited in a liquid form, and thensolidified.

Examples of plastics include chemically-cured plastics, such asurethanes, acrylics, and poly(methyl methacrylate), as well asradiation-cured plastics and moisture-cured plastics.

Examples of resins include epoxy resins, phenol-formaldehyde resins,anaerobic resins, and cyanoacrylates.

Examples of silicones include addition and condensation-cured siliconerubbers with a hardness ranging from Shore 00-10 to Shore 60A whensolidified.

Examples of urethane rubbers include materials with a hardness ofranging from Shore 10A to Shore 90D.

Examples of biological materials include bacteria, antibodies, lignin,growth media, yeast, cellular matrices, eukaryotic cells, non-eukaryoticcells, fungal medium, seed/plant growth.

Examples of liquid wood pulp include cellulose, lignin and other paperfiber mixes with both natural and synthetic fibers.

Examples of concretes include Portland cement or other hydraulic cementsthat harden due to a chemical reaction with water.

Examples of liquid metals include metals and alloys that have a meltingpoint below about 100° C., such as field's metal, wood's metal, androse's metal.

The methods do not require layer-by-layer deposition. Rather, the nozzlecan move and extrude in any orientation in 3-dimensional space. As aresult, the final printed product can have a much stronger and moreuniform material consistency and surface finish than products resultingfrom layer-based printing processes.

1.2. Deposition

The methods described herein can use a syringe-type nozzle having anopening with a wide variety of shapes and sizes. The methods can alsouse a two-part liquid extruder that can extrude input materials at aratio of 1:1, 2:1, 1:2, or other ratios. The nozzle sizes and shapes canaccommodate different viscosities and different extrusion shapes orfeatures sizes. For example, a more viscous material may require alarger nozzle and a higher pressure while a less viscous material canuse a smaller nozzle and lower pressure. The extrusion pressure can becreated with either pneumatics or mechanical actuation. Both actuationtechniques can be controlled to precisely deposit the desired amount ofliquid, stopped to eliminate residual liquids from extruding, or evenpotentially reversed to remove material in a form of physical deletion.The nozzle size can also increase the feature size of the printed partand allow for increased resolution, or increase the material quantityand speed to decrease the resolution. The speed of the deposition, sizeof the nozzle and the pressure in the cylinder are interrelated processvariables. For example, to print faster, either the nozzle size or thepressure can be increased; otherwise, the volume of the materialextruded per unit distance traveled by the nozzle decreases as thenozzle speed increases. In other words, varying the nozzle size orapplied pressure can influence that rate at which the solidifyingmaterial is extruded through the nozzle, and therefore the rate at whichthe solidifying material is deposited. The shape of the nozzle openingcan also vary to create different effects in the printed part,resembling a 3-dimensional calligraphy technique. Nozzles havingcircular-shaped, square-shaped, diamond-shape, V-shaped, U-shape,C-shape or virtually any other shape nozzle can be used to createdifferent feature profiles. Examples of nozzle shapes are illustrated inFIG. 5. Any of the components can be used interchangeably in the system,or simultaneously. For example multiple nozzles can be usedsimultaneously to deposit two different materials at the same time. Or,different nozzles can be swapped out with a tool-changer to allow forthe creation of a single, complex design with different feature sizes,materials and/or profiles.

A mixing tip 140 can also be used to thoroughly mixes a two-partsolidifying material for chemical curing. The liquid materials can havea variety of cure-times from a few seconds to minutes or hours. Theliquid material can also have a variety of final-cured properties suchas high stiffness (e.g., acrylonitrile butadiene styrene (ABS)plastics); elasticity (e.g., rubbers); expanding, flexible, or rigidfoams; solubility (liquids); brittleness; high-temperature resistance,or theoretically any other property. The liquids can also be virtuallyany color and viscosity with the use of fillers and color additives. Allof these properties can be varied with independent cartridges,continuous-fill mechanisms to change the properties on-the-fly,multiple-nozzles for multi-material printing or tool-swapping to allowfor different materials in different locations.

2. Gelatinous Printing Media

2.1. Composition

A gel is used as the media within which the solidifying material isdeposited. When the solidifying material is deposited, the gel supportsthe solidifying material such that the solidifying material is suspendedwithin the gel.

A wide variety of gels are suitable. One particular example of a gelthat has been used is a neutralized polyacrylic-acid (carbomer 940) gel.Between 1% and 0.25% by weight of carbomer 940 is thoroughly mixed inwater such that no clumps remain. At this point the mixture has a lowviscosity and a low pH. A solution of sodium hydroxide (NaOH) in wateris incrementally added to the carbomer mixture and slowly stirred as toavoid air bubbles until the pH is neutralized. At this point the mixturetransforms into a thick gel.

Adjusting the pH can adjust the viscosity of the gel, which allows thegel to accommodate and support objects of differing density, asdiscussed in the following section.

Adjusting the viscosity of the gel also influences how the nozzle passesthrough the gel as well as features of the printed structure. Forexample, if both the gel and solidifying material have a low viscosity,then the solidifying material may not remain in precisely the locationwhere it is deposited. Increasing the viscosity of the gel can ensurethat the deposited solidifying material remains within the path where itwas deposited rather than flowing through the gel. Alternatively, insome embodiments, the viscosity of the solidifying material can beincreased if the viscosity of the gel is too low.

2.2. Controlling Buoyancy of Objects

The amount of carbomer 940 used in the gel affects the subsequentsuspension of foreign materials, liquid or solid.

A higher percentage of carbomer results in a gel with higher viscosityand shear stress. In this condition the gel is able to suspend materialswith densities much lower or higher than its own. At a rate of 1%carbomer by weight, the gel is able to suspend a ¼ inch lead sphere.

A lower percentage of carbomer results in a gel with lower viscosity andshear stress. In this condition the gel is unable to suspend materialswith densities much lower or higher than its own. At a rate of 0.25%carbomer by weight, the gel is unable to suspend a ¼ inch aluminumsphere.

The gel composition can be modified so that it is suitable for formationof the desired object. Typically, the gel can have a viscosity betweenabout 20000 centipoise (cP) and about 50000 centipoise (cP).

2.3. Self-Healing

A gel can self-heal in that after the nozzle passes through the gel, thegel reforms to close the gap in the void area where the nozzle haspassed. As a result, air pockets within the gel are minimized. A lowershear stress (slower nozzle speed) permits the gel to self-heal quicklyas the nozzle passes through. As a result, deposition of solidifyingmaterial in lower viscosity gel better maintains the form of thedeposition nozzle orifice. High viscosity gel requires more time toself-heal. As a result, liquid material is able to flow into the cavityleft by the tool before the gel is able to self-heal. This effectivelyelongates circular depositions into a teardrop shape. Thus, the shape ofthe liquid material varies in proportion to relative viscosity of thegel and speed of the nozzle passing through.

3. Fabrication Machine

3.1. Gantry-System

The liquid extrusion process within the gel suspension can be preciselycontrolled with at least a three-axis CNC machine. With a three-axis,gantry-style machine, the cartridge and nozzle are attached to theZ-axis, and three-dimensional structures can be printed within the gel.The nozzle can move freely in all three linear dimensions (x-, y-, andz-dimensions), however the nozzle cannot rotate around the z-axis (whenused on a 3-axis machine). Typically, the printed part is constrained to3-dimensional geometries with vertical nozzle orientations.

A five-axis gantry-style machine can also be used. In a five-axismachine, the nozzle can move in all three linear dimensions (x-, y-, andz-dimensions), as well as rotate on the A- and B-axes. Since the nozzlecan rotate, the solidifying material does is not necessarily dispensedfrom a vertical orientation.

3.2. Industrial Robot Arm

In other embodiments, a six-axis industrial robot can be used to movethe nozzle through the gel. Typically, a six-axis industrial robotallows for rotation along six different axes. As a result, the nozzlecan be oriented in a wide variety of directions, allowing for printingsideways or rotating the nozzle as it moves in space. Similarly, greaterfreedom over the orientation of the robot and the relationship to theprinting axis is allowed.

3.3. Other Machines

Other deposition machines are also possible like “delta” robots, cablebots, or even distributed printing processes with autonomous robots.This process does not require an extremely specific machine, rather itcan accommodate just about any computer numerically controlled (CNC)machine that can move in three dimensions with multiple axes of control.

3.4. Scale

Both of these methods can be scalable to large (many cubic meters) orsmall (cubic millimeters) print volumes with either high precisionand/or high-speed depending on the application. If a small part withhigh precision is needed, a gantry-style machine can be used withextremely precise syringe tips in a small gel volume. Conversely, if avery large-scale structure is needed, a large gantry-machine (10's ofmeters), or large industrial robot (5 meters+) can be used.Theoretically there is no limit to the size of the machine, however alarge gel-bath is required and as the scale increases, the amount of gelrequired and the size of the container increases. For industrialproducts on the order of millimeters to multiple meters, this process isvery viable and may provide an extremely fast and precise printingprocess with industrial-grade materials.

3.5. Speed & Multiple Machines

The outlined fabrication machines can operate at slow speeds or fastspeeds, depending on the application, the time constraint or thefeatures of the printed part. Typically, the robot arm controlling thenozzle will need to move more slowly for smaller parts and for smallerfeatures of a part. For larger parts and larger features of parts, therobot arm controlling the nozzle can move more quickly. Alternatively,multi-robot printing processes can be used where large features arecreated with one arm and smaller features are created simultaneouslywith another arm. This can also allow for different materials orinterlocking parts, or other features that would not be feasible with asingle machine.

4. Speed

4.1. Support Material

The present invention can be far faster than existing printing processfor a number of reasons. The first element that dramatically increasesspeed is the elimination of extra design material for support. Since theviscous gel can support the deposited material, there is no need for aprinted support material like FDM, SLA or many other processes. Thisdramatically decreases the amount of material that needs to be printed,the time it takes to print, and also the time to remove the excessmaterial from the printing. For example, a diagonal part withoverhanging features can be printed directly in 3-dimensional spacewithout the need for a support wall or column.

By removing this limitation, extremely complex structures can also beprinted that would not otherwise be possible with other printingprocesses that require supports. For example, a structure that ishollow, but has a complex shape within the hollow cavity would bedifficult to build in other processes because the support material wouldneed to fill the cavity of the printed part and span from one printedpart to another. This extra material may not be possible to remove andmay limit the possible complexity of the shape. In an SLA orpowder-based printing processes, sometimes the support material can betrapped within the cavity and dramatically increase the amount ofmaterial that a part requires.

4.2. Post-Printing-Process

By printing with chemically or air-cured solidifying materials within aviscous gel, the methods described herein reduce or eliminate complexand time-consuming post-processing. SLA printing processes typicallyrequire a support removal step, which can require manually breaking offthe support structures. There is also a cleaning process in an alcoholbath to remove the uncured polymers. These steps can be potentiallytoxic, costly and extremely time consuming. FDM and Polyjet printingtypically involve a support-dissolving step, where the part is put in abath to remove the support material. This can also be toxic andextremely time consuming. After printing a part for many hours, it thenneeds to sit in a bath for many minutes or hours while the supports areremoved. In powder-based printing processes there is an excavationprocess that is very messy and time consuming where the user needs todig out the part from the powder bath. With the methods describedherein, when the part is printed it can be immediately cured (ortime-delayed depending on the material selection), and then it can beimmediately removed from the gel by simply reaching in and taking outthe part. The part can then be simply sprayed with water to remove theexcess gel and it is finished, ready for use. This simplepost-printing-process can dramatically increase the application of 3Dprinting in industrial settings, reduce the hazards and allow forprinting to become more accessible to a wider audience and increase thespeed of the post-process.

4.3. Layer Printing Vs. Spatial Printing

With the spatial liquid deposition in the viscous gel media, any complexstructure can be printed directly in three-dimensional space withoutslicing and layer-based printing software file preparation steps.

In contrasts, layer-by-layer processes requires fairly complex softwareand produce large file sizes. The slicing process also frequentlyincreases the failure-rate or the surface roughness of the printed part.Because the complex 3-dimensional model needs to be algorithmicallyreconstructed with 2-dimensional paths, features can be left out, thepath can be incorrect or it can reduce the resolution of the part due tothe layer-by-layer material texture. Similarly, this layer-by-layerprocess dramatically decreases the strength of the printed part due toinhomogeneity. The methods described herein do not have a layer-by-layerprinting process and can create completely homogenous cross sectionswithin a printed path in any orientation in 3-dimensions.

Similarly, in the methods described herein, a printed part can beextremely fast to print as compared with layer-by-layer processes. Withlayer-by-layer printing, the time of printing can be calculated by thelinear length of each 2-dimensional path times the number of z-heightslices. This dramatically increases the time it takes to print eachlayer. In our process the nozzle can print in any orientation with anyfeature size and does not need to print layer-by-layer, dramaticallyincreasing the speed and feature possibilities of a printed part orobject.

5. Usage

5.1 Printing in Three-Dimensional Space

The methods described herein allows for objects at small or large scalesto be printed reminiscent of 2-D drawing or sketching yet in3-dimensional space. In some embodiments, the nozzle can be manuallymoved through the gel by hand without aid of a multi-axis machine. Insome embodiments, the robotic arm or gantry-style machine can bemanually moved through the gel by hand. Manual movements of the roboticarm or gantry-style machine can be recorded by software as the arm ormachine are moved, thereby creating a recording of a movement that canbe replayed for future automated production. In other embodiments, thegantry-style machine or robotic arm can be controlled with a controller.

In some of the methods described herein, the structure to be fabricatedcan be sent to the robot arm as a curve in 3D space. As an example athree-dimensional curve can be generated in modeling software. The curvecan be exported as a series of points in 3D space that the machine willfollow during the printing process. The output of the modeling softwareis typically in machine code (e.g., Gcode, ShopbotCode, URCode, or avariety of other types of code files linked with the specific CNCmachine that is being used). This process eliminates the need to use anSTL file (or mesh geometry file) that is usually exported from modelingsoftware and subsequently imported into a slicing software that slicesthe STL/Mesh geometry into layers that create tool paths for the machineto follow, layer-by-layer. The slicing software generates the machinecode for a typical printer. In methods described herein that involve theuse of a multi-axis machine, the slicing step is not necessary, and themachine code is generated from a series of 3-dimensional points in spacebased on the original 3D curve. The machine code can include otherparameters and values. For example, the machine code can includeparameters that increase or decrease the air pressure (e.g., to turn theair pressure on or off); to adjust the speed of the machine (e.g., toadjust the speed of the nozzle as it is moving through the gel); and toadjust the orientation of the nozzle as the machine moves the nozzlethrough the gel.

When connected with design software, a modeling tool or VR headset, themethods described herein can allow for a designer to sketch and designin mid-air while simultaneously printing at the same speed and samescale, within the gel. This 1:1 design to production speed andlength-scale has not been realized before due to time constraintsinherent with physical fabrication. Most fabrication processes, even forquick sketch models, take significant amounts of time and thereforecannot be as fast as sketching. With this technology a printed part canbe created at the same speed that a robot or a human moves their armthrough the air.

5.2 Printing onto Other Objects

If the fabrication machine (gantry or robot) picks up a physical objectand places it into the gel, the machine can then liquid print onto,around or within the physical object. This capability allows forsequential printing of materials with a variety of properties in onebuild. Using the fabrication of a chair as an example, a structure (inthis case, a metal structure) produced by another fabrication processcan be placed within the gel. The back of the chair, which typically ismade of a soft rubber material, can be printed around the placed metalstructure. Next, the robot can switch to printing a foam material as theseat cushion of the chair, connected directly to the metal structure.This process can incorporate fastener details like screws, bolts orother connectors and can allow for hybrid fabrication processes. Manyphysical objects (flexible or rigid) with different materials can bedeposited or placed within the gel acting as substrates for furtherbuild processes. Even a textile can be placed in the gel and printedonto.

FIG. 7 is an illustration of using the methods described herein tofabricate a chair. A metal frame 190 can be placed into the tank 160 ofgel 170. The printed chair cover and frame 180 d can be printed ontoand/or around the metal frame 190 to produce the spanning flat surfacesof the chair. This process allows for hybrid printing scenariosincorporating other parts (e.g., industrially-produced parts) in the gelsuspension.

5.3 Cure-Time

The printed solidifying material can be designed to cure extremelyquickly or slowly, depending on the application. A faster cure time canreduce the overall fabrication time while a slower cure time can allowfor more thorough bonding when printing intersecting paths. A slowercure-time can also enable bonding of the liquid printed structure withphysical objects that have been placed into the gel

5.4 Complex Tool Paths

Another potential advantage of this technique is the possibility offully interlocking, 3-dimensional parts being made without supportmaterial or filled cavities. For example, printing a woven or knitstructure may now be possible utilizing multiple robots that depositliquid simultaneously, or by complex tool paths that would otherwise notbe possible. With a 6-axis industrial robot, complex tool paths can beused, almost like calligraphy, with different nozzle extrusionorientations. Another possibility is printing underneath, next to or ontop of other printed/physical objects within the gel.

5.5 Post-Process

Different forms of post-curing can be incorporated such as UV- ortemperature-sets to change the properties of the material. Afterremoving the part from the gel bath, it can be easily washed-off withwater to remove excess gel, or coated with some material to strengthenit, color the part, further cure the part or any number ofpost-processing capabilities. For example, if a ceramic material isprinted within the gel, or a slurry of wood or metal, the printed partmay cure within the gel, then be removed and placed into an oven forpost-processing. Such a capability can greatly increase part strength,such as through a post-printing firing or sintering processes as used inceramics and metal production, or a number of other interesting materialcapabilities.

5.5 Material Usage

Due to the removal of printed support material and the truly3-dimensional nature of this printing process, much less material can beused for a printed part. This process does not require baths or bedsfull of powder or liquid resins. Similarly, the layer-based process andbuilt-up printed support materials are quite wasteful in the totalamount of material used compared with the material needed for the finalpart. In the methods described herein, it is not necessary to wastematerial.

6. Advantages & Improvements Over Existing Methods

This technology offers significant improvement over existing methods ofthree-dimensional printing, including; SLA, SLA, FDM, Polyjet andpowder-based printing. To date, three-dimensional printing has not madea significant impact in industrial manufacturing processes becauseof: 1) long printing times compared with injection molding or othermanufacturing processes; 2) relatively small build volume limitingrealistic applications; and 3) the availability of only low-qualityprintable plastics and other materials, the properties of which do notcompare with industrial materials. The methods described hereindramatically improve upon each of these areas.

Since the methods described herein do not require support material tobuild overhangs or complex 3-dimensional structures, the structure canbe made significantly faster. FDM, Polyjet and SLA technologies requiresupports that significantly increase the time required to print and thetime after printing due to the need to remove the supports eithermanually or through dissolution. Without supports, the methods describedherein can print the same complex three-dimensional shapes at the sametime as reducing the need for additional unnecessary material,unnecessary time for printing and unnecessary post-printing processes.Once a structure is printed and the solidifying material solidifies(e.g., cures), the structures can be removed from the gel, simply washedoff with water, and then they are finished. The methods utilize thegel's material structure to suspend the print in 3-dimensional space andallows for non-layer-based printing where the nozzle can move freely inall 3 axes at any time.

This technology also drastically increases the speed of printing byeliminating the requirement to print in successive layers. Nearly everyprinting process available today requires individual layers to beprinted, layer-after-layer. This drastically increases the time requiredto print a tall or complex 3-dimensional form and requires sophisticateddigital “slicing” techniques, producing large file sizes. For example,if a wireframe structure was to be printed using FDM, SLA, SLS,powder-based printing or polyjet, it would need to be sliced with manylayers and then printed in linear paths at each layer. The edges of thewireframe structure would also need to have support material printedunderneath due to their cantilever and unsupported shape. In the methodsdescribed herein, these lines can simply be drawn in three-dimensionalspace, eliminating the support material and eliminating the slices.Another aspect that increases the speed of printing compared to otherfree-form or in-air three-dimensional printing processes is the speed ofextrusion. Other processes require that the material be cured orhardened before the machine moves to the next layer or continues to movethe nozzle. This drastically decreases the speed at which the robot orprinter can move. In the methods described herein, the material issuspended in the gel in three-dimensional space, and therefore thenozzle can continue moving quickly and extruding materials that aresuspended behind the nozzle path and solidified (e.g., chemicallycured). Because of these factors, the speed of printing can likely beincreased by many orders of magnitude compared to traditional printingprocesses.

As compared with traditional methods of 3-dimensional printing, themethods described herein are also scalable from very small-scale, highresolution to large-scale. Since the process is dramatically faster thanany other methods, much larger structures can be built in less time. Forexample a 6″×6″×6″ cube of material may require 24-48 hours to print onan SLA machine while it can take a few minutes in the methods describedherein. The methods can also scale-up by using larger tanks of gel andlarger industrial robots or gantry machines and allow very largestructures to be produced extremely quickly. The speed and scale of theprint may now be able to be compared with other industrial processeslike injection molding or machining. Especially if the assembly time ofa traditional product is taken into consideration, the methods describedherein, which may not require any assembly since the entire product canbe printed simultaneously, may drastically change manufacturingscenarios.

One of the most significant advances over traditional three-dimensionalprinting processes is the improvement in material properties. Becausethe method involves printing a solidifying material in a liquid ormolten state and chemically curing that material, real-world,industrially produced materials can be used. Some examples of materialsthat can be used include polyurethane (PU) rubber, foam, plastics or anyother liquid or molten material. In FDM printing a filament is produced,which then needs to be heated and extruded in a liquid form that thencools and hardens into the three-dimensional structure. This processlimits the types of materials available for use, and the layered natureof the FDM printing process dramatically reduces the structuralintegrity of the printed part compared to injection molding. In SLSprinting, the materials are even more limited because they need to bemade into powders that then require sintering, which limits the range ofavailable materials. The methods described herein use the same materialsthat are available today in many industrial manufacturing processes, andthe materials do not require heating, sintering, or hot-extrusion;rather they are chemically or otherwise cured (e.g., photoinitiatedpolymerization). Similarly, the methods do not rely on successivelayering, the consequence of which is that the parts can be as strong asparts made through traditional industrial processes. The methodsdescribed herein can also be used to print liquid slurry woods,biological materials, low-temperature liquid metals, cements or othertypes of materials that can be extruded into the gel substrate.

7. Applications

The methods described herein can be used to fabricate a wide variety ofproducts. Examples include apparel and sports equipment; fabrication andmanufacturing; aviation and automotive; furniture and interior products;architecture, engineering, and construction; and toys and consumergoods. The following are some examples of products within thesecategories.

Apparel & Sports Equipment: Printing 1:1 sports equipment (bikes,boards, boots, shoes, helmets, pads, etc.); Printed textiles;Marketing/commercial/PR applications with an innovative new process forin-store applications or high-tech appeal; Potentially as fast, orfaster, than existing manufacturing processes, highly customized,industrial-quality materials (foams, rubbers, plastics), large-scale orsmall-scale parts; New design process with physical 3-dimensional 1:1size/speed sketching.

Fabrication & Manufacturing: Large-scale tooling, prototyping, andfixturing; Potentially as fast, or faster, than existing manufacturingprocesses, highly customized, industrial-quality materials (foams,rubbers, plastics), large-scale or small-scale parts; Hybrid approacheswith multiple fabrication processes (i.e. welded or cast metal partsinserted into the gel to receive a liquid printed part within/around/ontop of the metal part).

Aviation and Automotive Applications: Large-scale printed parts forinterior applications (panels, seats, shades, dashes, ceilings, floors);Medium-scale printed parts (seat cushions/structures, engine components,brackets, connectors); Large-scale printed parts for exterior panels;Tooling, prototyping, fixturing; Potentially as fast, or faster, thanexisting manufacturing processes, highly customized, industrial-qualitymaterials (foams, rubbers, plastics), large-scale or small-scale parts;New design process with physical 3-dimensional 1:1 size/speed sketching

Furniture & Interior Products: Large-scale printed parts for interiorapplications (screens, installations, etc.); Medium-scale printed parts(seat cushions, seat structures, seat back/textiles, tables, desks,stools, shelves, etc.); Tooling, prototyping, fixturing;Marketing/commercial/PR applications with an innovative new process forin-store applications or high-tech appeal; Potentially as fast, orfaster, than existing manufacturing processes, highly customized,industrial-quality materials (foams, rubbers, plastics), large-scale orsmall-scale parts; New design process with physical 3-dimensional 1:1size/speed sketching

Architecture, Engineering & Construction: Large-scale tooling (blades,concrete form-work, support structures); Final structures (walls,surfaces, skin/panels, 1:1 details); On-site fabrication process duringconstruction due to speed/scale; New design process with physical3-dimensional 1:1 size/speed sketching.

Toys and other Consumer goods: Printing 1:1 consumer goods/toys (bikes,boards, boots, shoes, helmets, pads, etc.); Potentially as fast, orfaster, than existing manufacturing processes, highly customized,industrial-quality materials (foams, rubbers, plastics), large-scale orsmall-scale parts; New design process with physical 3-dimensional 1:1size/speed sketching

INCORPORATION BY REFERENCE; EQUIVALENTS

The teachings of all patents, published applications and referencescited herein are incorporated by reference in their entirety.

While example embodiments have been particularly shown and described, itwill be understood by those skilled in the art that various changes inform and details may be made therein without departing from the scope ofthe embodiments encompassed by the appended claims.

What is claimed is:
 1. An apparatus for making a three-dimensionalobject, the apparatus comprising: a multi-axis machine; an arm affixedto the machine; at least one chamber containing solidifying materialtherein; at least one mixing tip for mixing material within the at leastone chamber; a container of carbomer gel; and at least one nozzle fordepositing mixed material within the carbomer gel, wherein the arm movesthe nozzle through the carbomer gel, wherein the arm changes position ofthe nozzle within the carbomer gel while depositing the solidifyingmaterial which becomes part of the three-dimensional object, through theat least one nozzle, whereby the carbomer gel supports the solidifyingmaterial at the position at which the solidifying material is deposited,which is suspended within the carbomer gel, wherein the carbomer geldoes not scar and wherein the carbomer gel is a water-based gel, andwherein changing a speed of changing position of the nozzle compriseschanging the volume of the material extruded per unit distance traveledas interrelated process variables; and wherein the solidifying materialsolidifies in the carbomer gel to form a solid material, the solidmaterial being a three-dimensional object.
 2. The apparatus of claim 1,wherein the nozzle is affixed to the multi-axis machine, and whereinchanging the position of the nozzle through the carbomer gel comprisesmoving one or more axes of the multi-axis machine to which the nozzle isaffixed.
 3. The apparatus of claim 1, wherein depositing the solidifyingmaterial through the nozzle further comprises varying a rate at whichthe solidifying material is deposited.
 4. The apparatus of claim 1,wherein changing the position of the nozzle within the carbomer gelfurther comprises changing the position of the nozzle at varying speeds.5. The apparatus of claim 1, wherein the container of the carbomer gelcan move and wherein changing the position of the nozzle within thecarbomer gel comprises changing a position of the container of carbomergel.
 6. The apparatus of claim 1, wherein solidifying the solidifyingmaterial comprises exposing the solidifying material to light or heat.7. The apparatus of claim 1, wherein solidifying the solidifyingmaterial comprises allowing the solidifying material to cool.
 8. Theapparatus of claim 1, wherein solidifying the solidifying materialcomprises exposing the solidifying material to light while depositingthe solidifying material through the nozzle.
 9. The apparatus of claim1, wherein the solidifying material is a polymer, a rubber, a pulp, afoam, a metal, a concrete, or an epoxy resin.
 10. The apparatus of claim9, wherein the rubber is a silicone rubber.
 11. The apparatus of claim1, wherein the solidifying material has a hardness between about Shore00-10 and about Shore 90D when solidified.
 12. The apparatus of claim 1,wherein the solidifying material is a foam.
 13. The apparatus of claim12, wherein the solidified foam has a density of about 3 lb/ft³ to about30 lb/ft³.
 14. The apparatus of claim 1, wherein the carbomer gel is asuspension.
 15. The apparatus of claim 1, wherein the carbomer gel has aviscosity between about 20000 centipoise and about 50000 centipoise. 16.The apparatus of claim 1, wherein the nozzle has a circular-shaped,rectangular-shaped, square-shaped, diamond-shaped, V-shaped, U-shaped,or C-shaped tip through which the solidifying material is deposited. 17.The apparatus of claim 1, wherein the solidifying material comprises twocompounds that co-polymerize, and wherein solidifying the solidifyingmaterial comprises allowing the two compounds to co-polymerize.
 18. Theapparatus of claim 17, wherein the mixing tip mixes the two compounds asthey are deposited through the nozzle.
 19. The apparatus of claim 1,wherein changing the position of the nozzle comprises changing theposition of the nozzle within the carbomer gel in three through eightaxes simultaneously, for at least a portion of time.
 20. The apparatusof claim 1, wherein changing the position of the nozzle compriseschanging the position of the nozzle within the carbomer gel in fivethrough eight axes simultaneously, for at least a portion of time. 21.The apparatus of claim 1, wherein changing the position of the nozzlecomprises changing the position of the nozzle within the carbomer gel inthree through six axes simultaneously, for at least a portion of time.22. The apparatus of claim 1, wherein changing the position of thenozzle comprises changing the position of the nozzle within the carbomergel in six axes simultaneously, for at least a portion of time.
 23. Theapparatus of claim 1, wherein changing the position of the nozzlecomprises changing the position of the nozzle to deposit solidifyingmaterial onto, around, or within another object within the carbomer gel.24. The apparatus of claim 1, wherein there are at least two chambers,each containing a different solidifying material.
 25. The apparatus ofclaim 1, wherein there are at least two nozzles that are independentlycontrollable.
 26. The apparatus of claim 1, wherein the second nozzle isconnected to a second arm.
 27. The apparatus of claim 25, wherein thefirst and second nozzles have tips with different shapes.
 28. Theapparatus of claim 24, wherein the first and second solidifyingmaterials are different.